相关论文: Grounded Language Understanding for Manipulation I…

Applying generative adversarial networks (GANs) to text-related tasks is challenging due to the discrete nature of language. One line of research resolves this issue by employing reinforcement learning (RL) and optimizing the next-word…

With great progress in the development of Generative Adversarial Networks (GANs), in recent years, the quest for insights in understanding and manipulating the latent space of GAN has gained more and more attention due to its wide range of…

Generative Adversarial Networks (GANs), as a framework for estimating generative models via an adversarial process, have attracted huge attention and have proven to be powerful in a variety of tasks. However, training GANs is well known for…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Bayesian inference on structured models typically relies on the ability to infer posterior distributions of underlying hidden variables. However, inference in implicit models or complex posterior distributions is hard. A popular tool for…

Generative adversarial networks (GANs) have great successes on synthesizing data. However, the existing GANs restrict the discriminator to be a binary classifier, and thus limit their learning capacity for tasks that need to synthesize…

Humans can ground natural language commands to tasks at both abstract and fine-grained levels of specificity. For instance, a human forklift operator can be instructed to perform a high-level action, like "grab a pallet" or a low-level…

Language models have been supervised with both language-only objective and visual grounding in existing studies of visual-grounded language learning. However, due to differences in the distribution and scale of visual-grounded datasets and…

Lexical semantics and cognitive science point to affordances (i.e. the actions that objects support) as critical for understanding and representing nouns and verbs. However, study of these semantic features has not yet been integrated with…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Generative adversarial networks (GANs) provide an algorithmic framework for constructing generative models with several appealing properties: they do not require a likelihood function to be specified, only a generating procedure; they…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…

The extraction of modular object-centric representations for downstream tasks is an emerging area of research. Learning grounded representations of objects that are guaranteed to be stable and invariant promises robust performance across…

Differentiable rendering has paved the way to training neural networks to perform "inverse graphics" tasks such as predicting 3D geometry from monocular photographs. To train high performing models, most of the current approaches rely on…

Joint video-language learning has received increasing attention in recent years. However, existing works mainly focus on single or multiple trimmed video clips (events), which makes human-annotated event boundaries necessary during…

In the field of robot learning, coordinating robot actions through language instructions is becoming increasingly feasible. However, adapting actions to human instructions remains challenging, as such instructions are often qualitative and…

Methods of deep machine learning enable to to reuse low-level representations efficiently for generating more abstract high-level representations. Originally, deep learning has been applied passively (e.g., for classification purposes).…

The heterogeneity between high-level vision-language understanding and low-level action control remains a fundamental challenge in robotic manipulation. Although recent methods have advanced task-specific action alignment, they often…

Despite rapid progress, embodied agents still struggle with long-horizon manipulation that requires maintaining spatial consistency, causal dependencies, and goal constraints. A key limitation of existing approaches is that task reasoning…

Auto-encoding generative adversarial networks (GANs) combine the standard GAN algorithm, which discriminates between real and model-generated data, with a reconstruction loss given by an auto-encoder. Such models aim to prevent mode…